Gimbal transmission cable management

ABSTRACT

A gimbal transmission cable management system is disclosed. The system can include a first gimbal portion and a second gimbal portion rotatable relative to one another to provide rotation about a gimbal axis. The system can also include a cable retainer fixed relative to one of the first and second gimbal portions and defining a cable volume between the cable retainer and at least one of the first and second gimbal portions. In addition, the system can include a transmission cable coiled about the gimbal axis within the cable volume. Bi-directional relative rotation of the first and second gimbal portions can alternately coil and uncoil a portion of the transmission cable about the gimbal axis within the cable volume.

GOVERNMENT LICENSE RIGHTS

This invention was made with government support under Contract No.H94003-04-D-0006-0228 awarded by the Department of Defense. Thegovernment has certain rights in the invention.

BACKGROUND

Modern sensors and other electronic devices are often mounted withingimbal mechanisms to achieve free movement in multiple axes, which isespecially true for many military applications. Transmission cables,such as electrical cable wraps, have been in use for years to carrysignals and/or electrical power within a gimbal. Optical instruments,such as ladar heads or telescopes, are becoming increasingly common ingimbal mounted systems. Often, an off-gimbal light source, such as alaser, is used to transmit light via a fiber optic transmission cable toan on-gimbal optical instrument, which may require the fiber optic cableto traverse one or more rotational axes of the gimbal. Fiber opticcables require minimum bend radii to operate within required performancespecifications. The minimum bend radius of a fiber optic cable dependsupon a variety of factors, including the signal handled by the fiberoptic cable, the style of the fiber optic cable, and equipment to whichthe fiber optic cable is connected.

BRIEF DESCRIPTION OF THE DRAWINGS

Features and advantages of the invention will be apparent from thedetailed description which follows, taken in conjunction with theaccompanying drawings, which together illustrate, by way of example,features of the invention; and, wherein:

FIG. 1 is perspective view of a gimbal transmission cable managementsystem in accordance with an example of the present disclosure.

FIG. 2 is a top view of the gimbal transmission cable management systemof FIG. 1.

FIG. 3 is a detailed cross-sectional view of the gimbal transmissioncable management system of FIG. 1.

FIG. 4 is perspective view of a gimbal transmission cable managementsystem in accordance with another example of the present disclosure.

Reference will now be made to the exemplary embodiments illustrated, andspecific language will be used herein to describe the same. It willnevertheless be understood that no limitation of the scope of theinvention is thereby intended.

DETAILED DESCRIPTION

As used herein, the term “substantially” refers to the complete ornearly complete extent or degree of an action, characteristic, property,state, structure, item, or result. For example, an object that is“substantially” enclosed would mean that the object is either completelyenclosed or nearly completely enclosed. The exact allowable degree ofdeviation from absolute completeness may in some cases depend on thespecific context. However, generally speaking the nearness of completionwill be so as to have the same overall result as if absolute and totalcompletion were obtained. The use of “substantially” is equallyapplicable when used in a negative connotation to refer to the completeor near complete lack of an action, characteristic, property, state,structure, item, or result.

As used herein, “adjacent” refers to the proximity of two structures orelements. Particularly, elements that are identified as being “adjacent”may be either abutting or connected. Such elements may also be near orclose to each other without necessarily contacting each other. The exactdegree of proximity may in some cases depend on the specific context.

An initial overview of technology embodiments is provided below and thenspecific technology embodiments are described in further detail later.This initial summary is intended to aid readers in understanding thetechnology more quickly but is not intended to identify key features oressential features of the technology nor is it intended to limit thescope of the claimed subject matter.

Transmission cables, particularly fiber optic cables, are vulnerable todamage when routed through gimbal mechanisms. During use of a gimbal,such cables are susceptible to bending in excess of the minimum bendradius (e.g., kinking) and can bind or jam the gimbal mechanism. Inaddition, electrical cables and fiber optic cables may be required toco-exist within a confined space of the gimbal. In such cases, opticaland electrical cables can become tangled, causing damage to the cables.It is therefore desirable to arrange transmission cables in a mannerthat allows repeated motion of the gimbal without cable damage orbinding of the gimbal mechanism.

Accordingly, a transmission cable management device for a gimbal isdisclosed that facilitates repeatability and reliability of transmissioncable movement during use of the gimbal mechanism. In one aspect,multiple transmission cables, such as fiber optic and electrical cables,can be packaged into a confined space and can move repeatedly andindependently of one another. The transmission cable management devicecan include a cable retainer to be fixed relative to one of a firstgimbal portion and a second gimbal portion. The first and second gimbalportions can be rotatable relative to one another about a gimbal axis.The cable retainer can be configured to define a cable volume betweenthe cable retainer and at least one of the first and second gimbalportions. The cable volume can be configured to receive a transmissioncable therein coiled about the gimbal axis. Bi-directional relativerotation of the first and second gimbal portions can alternately coiland uncoil a portion of the transmission cable about the gimbal axiswithin the cable volume.

In one aspect, a gimbal transmission cable management system isdisclosed. The system can include a first gimbal portion and a secondgimbal portion rotatable relative to one another to provide rotationabout a gimbal axis. The system can also include a cable retainer fixedrelative to one of the first and second gimbal portions and defining acable volume between the cable retainer and at least one of the firstand second gimbal portions. In addition, the system can include atransmission cable coiled about the gimbal axis within the cable volume.Bi-directional relative rotation of the first and second gimbal portionscan alternately coil and uncoil a portion of the transmission cableabout the gimbal axis within the cable volume.

One example of a gimbal transmission cable management system 100 isillustrated in FIG. 1. The system 100 can comprise a transmission cablemanagement device 101 for a gimbal 102. Certain structures andcomponents of the gimbal 102 have been omitted or illustrated in brokenlines for clarity in illustrating various aspects of the system 100. Thegimbal 102 can include several gimbal portions 110, 111, 112 that arerotatable relative to one another. For example, the gimbal portion 110and the gimbal portion 111 are rotatable relative to one another toprovide rotation about a gimbal axis 103, which may be an azimuth axisin some embodiments. In addition, the gimbal portion 111 and the gimbalportion 112 are rotatable relative to one another to provide rotationabout a gimbal axis 104, which may be an elevation axis in someembodiments. It should be recognized that a gimbal can have any suitablenumber of rotational gimbal portions and gimbal axes, such as to providerotation about three gimbal axes.

The system 100 can also include a transmission cable 120, such as anoptical cable, an electrical cable, etc., which can be used for signaltransmission (e.g., RF or electric current), power transmission, etc.for devices (not shown, but known to those skilled in the art) containedwithin or mounted on the gimbal 102. The transmission cable 120 can beof any suitable configuration, such as a single fiber optic line or abundle of fiber optic lines, a ribbon cable, etc. In one aspect, thetransmission cable 120 can comprise a continuous or unitary opticalfiber line that optically couples an off-gimbal optical source, such asa laser, to an on-gimbal optical element, such as a ladar unit or atelescope. Thus, the system 100 can provide for an uninterrupted opticalpath between an off-gimbal source and an on-gimbal element or component.

The cable management device 101 of the system 100 can include a cableretainer 130 fixed relative to one of the gimbal portions. For example,in FIG. 1 a resolver cup 113 can be fixedly coupled to or integral withthe gimbal portion 110, and the cable retainer 130 can be fixedlycoupled to the resolver cup 113 such that there is no relative movementbetween the two components. As shown in the top view of FIG. 2, whichillustrates the gimbal portion 111, the resolver cup 113, thetransmission cable 120, and the cable retainer 130 of the system 100,the transmission cable 120 is coiled about the gimbal axis 103. Further,the cross-sectional view of FIG. 3, which illustrates the same system100 components as FIG. 2, shows the transmission cable 120 coiled aboutthe gimbal axis 103 within a cable volume 131 defined by the cableretainer 130, between the cable retainer 130 and the gimbal portion 111.Bi-directional relative rotation in directions 104, 105 of the gimbalportion 110 (e.g., the resolver cup 113) and the gimbal portion 111alternately coils and uncoils a portion of the transmission cable 120about the gimbal axis 103 within the cable volume 131. In other words, aportion of the transmission cable 120 is wound tighter or unwound looserabout the gimbal axis 103 within the cable volume 131. The cableretainer 130 can therefore maintain the transmission cable 120 in aseparate encapsulated volume from other components of the gimbal 102.The cable volume 131 can be configured to allow the transmission cable120 to freely coil and uncoil in a predictable and repeatable manner asthe gimbal portion 110 and the gimbal portion 111 rotate relative to oneanother.

Because the transmission cable 120 can slide relative to the gimbalportion 111 and/or the cable retainer 130 as the cable 120 coils anduncoils, the gimbal portion 111 and/or the cable retainer 130 can beconfigured to facilitate movement of the transmission cable 120 withinthe cable volume 131 as the transmission cable 120 coils and uncoils,such as between a looser and a tighter wrap or coil about the gimbalaxis 103. In one aspect, the gimbal portion 111 and/or the cableretainer 130 can have a smooth surface finish and/or be at leastpartially constructed of friction reducing material, such as Teflon® orother materials, to facilitate movement of the transmission cable 120within the cable volume 131. For example, the gimbal portion 111 and/orthe cable retainer 130 can have a smooth surface finish and/or be coatedwith friction reducing material on areas or surfaces that may contactthe transmission cable 120 to facilitate sliding of the transmissioncable 120. Similarly, an outer surface of the transmission cable 120 canbe smooth or coated with a friction reducing material to allow the cable120 to slide smoothly over surfaces of the gimbal 102 and the cableretainer 130 to coil and uncoil with minimal friction. In one aspect,several fiber optic lines or cables can be bundled together inside asmooth, low friction, coated “jacket.”

In one aspect, the cable retainer 130 can be configured to match thegeometry of the underlying gimbal portion. For example, as shown inFIGS. 1 and 3, the gimbal portion 111 comprises a spherical ordome-shaped configuration, which can be useful to accommodate aspherical or ball-shaped gimbal portion 112, such as an elevationturret. As shown in the cross-sectional view of FIG. 3, the cableretainer 130 can therefore be configured to match the spherical or domeshape of the gimbal portion 111 with a boundary surface 132 offset fromthe gimbal portion 111 by a gap 133 to provide the cable volume 131. Thetransmission cable 120 therefore rides along the spherical ordome-shaped surface of the gimbal portion 111 as the transmission cable120 coils and uncoils. It should be recognized that the underlyinggimbal portion can be of any shape or configuration, such as a planar orflat configuration. In this case, a cable retainer can match the planargeometry of the underlying gimbal portion by having a planar or flatboundary surface offset by a gap from the underlying gimbal portion toform a cable volume. Such a planar or flat configuration of theunderlying gimbal portion and the boundary surface of the cable retainercan represent a simplified cable interface geometry providing lesscomplicated cable movement than that provided by the spherical or domeshaped geometry illustrated in the figures.

In one aspect, the gap 133 or distance in the cable volume 131 betweenthe cable retainer 130 and gimbal portion 111 can be configured tomaintain the coil in an orderly spiral or coil configuration (shown inthe top view of FIG. 2) with enough space for free and unrestrictedmovement of the transmission cable 120 as it coils and uncoils, but notso much that the transmission cable 120 can bind on itself between thecable retainer 130 and the gimbal portion 111. In other words, thedistance 133 can be configured to prevent a portion of the coiledtransmission cable 120 from overlapping or riding over itself within thecable volume 131 as the transmission cable 120 slides along the gimbalportion 111 and/or the boundary surface 132 while coiling and uncoiling.Thus, in a particular aspect, the distance 133 can be less than or equalto 1.5 times a diameter 121 of the transmission cable 120 to maintainthe coil in a spiral configuration. In a more particular aspect, thedistance 133 can be less than or equal to 1.1 times the diameter 121 ofthe transmission cable 120 to maintain the coil in a spiralconfiguration. The cable retainer 130 can be at least partiallyconstructed of any suitable optically transparent material, such asclear Lucite®, to facilitate visual inspection during installation ofthe transmission cable 120 to ensure that the transmission cable 120 isnot binding on itself. The cable retainer 130 can be manufactured by anysuitable process or technique, such as stereolithography, molding,casting, etc.

FIG. 3 also illustrates a boundary member 114, which may be fixedlycoupled to or integral with the gimbal portion 111. Such a boundarymember 114 may be a pre-existing component of the gimbal or it may beadded to provide an outer boundary for the cable volume 131. Thus, forexample, the boundary member 114 can include an opening 115 that isconfigured to extend the cable volume 131 formed by the cable retainer130. Accordingly, the opening 115 can be configured similar to the cablevolume 131 between the cable retainer 130 and the gimbal portion 111. Ifthe boundary member 114 is included, then the boundary member 114 canhave an opening (hidden from view) through which the transmission cable120 can extend in order to exit the cable volume 131 and route towardthe gimbal axis 104, for example.

In one aspect, the cable retainer 130 can comprise a cable opening 134proximate the gimbal portion 110 to which the cable retainer 130 isfixed. The cable opening 134 can be configured to facilitate movement ofthe transmission cable 120 within the opening 134 as the transmissioncable 120 coils and uncoils within the cable volume 131. The cableopening 134 can have what can be termed a fan-shaped or fan-blade-shapedconfiguration that provides edges 135 a, 135 b with gradual roundedbends for interfacing with the transmission cable 120. The cable opening134 can be sized to give the transmission cable 120 space to move as itcoils and uncoils to ensure that the transmission cable 120 does not cutitself on an edge or corner of the cable opening. The size and/or shapeof the cable opening 134 can be determined empirically. The cableretainer 130 can also have an inner surface 136 that defines an innerradius of the cable volume 131 that is greater than or equal to aminimum radius of curvature for the transmission cable 120. The minimumbend radius of the transmission cable 120 can therefore be limited bythe inner surface 136 to prevent damage to the cable 120.

In one aspect, shown in FIG. 2, the transmission cable 120 can be fixedor pinned in a static position relative to the gimbal portion 110 and/orthe gimbal portion 111 with cable clips or brackets 122, 123,respectively, which can hold the transmission cable 120 without pinchingor putting undue stress on the cable. This may be referred to as pinningan “end” of the transmission cable 120 to a gimbal portion. The “end” isactually a point along the cable 120, which may be a continuous fiber,and is only an “end” with respect to the particular gimbal portion thatis being described. The true ends of the transmission cable 120 may becoupled to the off-gimbal source and the on-gimbal element or component.Fixing the transmission cable 120 to the gimbal 102 ensures that neitherthe cable nor its connectors experience undue stress. Such cable clipsor brackets can be utilized anywhere in the gimbal 102 to maintain fixedlengths of the transmission cable 120 for each rotating section betweengimbal portions of the gimbal 102, which can maintain independent cablesections for each rotating section and prevent movement of thetransmission cable from one rotating section to another during use.

In one aspect, the transmission cable 120 can be configured tofacilitate a desired range of relative motion between gimbal portions orrotating sections of the gimbal 102, which can exceed±180 degrees. Forexample, a length of the transmission cable 120 between the brackets122, 123 can be sized to facilitate a desired range of motion for thegimbal portions 110, 111 about the axis 103. The length of thetransmission cable 120 between the brackets 122, 123 to accommodate agiven range of motion will typically be a function of the rotationalrange of motion and the radial space available for the transmissioncable to move, which depends on the cable 120 diameter (which may bedriven by optical requirements) as well as the physical packagingrestrictions of the gimbal. Such a cable length can be determinedempirically with experimental or physical models and may be an iterativeprocess to determine an optimized amount of slack for repeatable cablemotion. Generally, it is desirable to provide the transmission cable 120with as much freedom to move inside the confined space of the cablevolume 131 as possible. This includes restricting the length of thetransmission cable 120 to prevent an excess of cable that would have noroom for free movement within the cable volume 131, which can preventbinding or breakage of the cable 120 and/or the gimbal 102.

The cable retainer 130 disclosed herein can maintain a minimum setradius of curvature of the transmission cable 120, accommodate a widerange of motion, and keep the transmission cable 120 confined to thecable volume 131 where it cannot become entangled with the gimbal 102 orother elements, thereby avoiding damage to the transmission cable 120and additional loading of the gimbal motors. The present disclosure cantherefore provide a power efficient, reliable, compact, lightweight, andinexpensive solution for optically coupling an off-gimbal opticalsource, such as a laser, to an on-gimbal optical element, such as aladar unit or a telescope.

The principles disclosed herein can be adapted for gimbal motion in anygimbal axis of rotation, (e.g. roll, nod, and elevation) or anycombination thereof. For example, the transmission cable 120 is alsoshown coiled about the gimbal axis 104, such that bi-directionalrelative rotation of the gimbal portion 111 and the gimbal portion 112alternately coils and uncoils a portion of the transmission cable 120about the gimbal axis 104. It should be recognized that a cable retainercan also be utilized here in a similar manner discussed above.

FIG. 4 illustrates a gimbal transmission cable management system 200 inaccordance with another example of the present disclosure. The system200 is similar in many respects to the system 100 discussed above. Forexample, as with the system 100, the system 200 can comprise atransmission cable management device 201, which can include a cableretainer 230, for a gimbal 202. Certain structures and components of thegimbal 202 have been omitted or illustrated in broken lines for clarityin illustrating various aspects of the system 200. The gimbal 202 caninclude several gimbal portions 210, 211, 212 that are rotatablerelative to one another. For example, the gimbal portion 210 and thegimbal portion 211 are rotatable relative to one another to providerotation about a gimbal axis 203, which may be an azimuth axis in someembodiments. In addition, the gimbal portion 211 and the gimbal portion212 are rotatable relative to one another to provide rotation about agimbal axis 204, which may be an elevation axis in some embodiments.

The system 200 can also include transmission cables 220 a, 220 b, whichcan each comprise an optical cable, an electrical cable, etc. In oneembodiment, the transmission cable 220 a can comprise an optical cableand the transmission cable 220 b can comprise an electrical cableconfigured as a ribbon cable. As with the transmission cable 220 a, thetransmission cable 220 b can be coiled about the gimbal axis 203. Thetransmission cable 220 b has been truncated in the figure for clarity,omitting such coiling of the transmission cable 220 b above the cableretainer 230. In this case, the cable retainer 230 can maintainseparation of the transmission cables 220 a, 220 b as the gimbalportions 210, 211 rotate relative to one another. In other words, thecable retainer 230 can serve as a divider, forming a separate cablevolume as discussed above for the transmission cable 220 a, therebyseparating the transmission cable 220 a from the transmission cable 220b, which can reside above or in a separate volume of space within thegimbal 202. The cable retainer 230 can therefore keep the transmissioncables 220 a, 220 b separated such that the transmission cables 220 a,220 b can move (e.g., rotate and/or coil and uncoil) separately andindependently from one another to avoid binding, tangling, kinking, etc.of the transmission cables 220 a, 220 b as the gimbal portions 210, 211rotate relative to one another about the gimbal axis 203. Thetransmission cables 220 a, 220 b can be mingled together in the samegimbal and prevented from tangling or damaging one another. Theprinciples disclosed herein can thus facilitate retrofitting orincorporating a fiber optic cable into a gimbal that includes electricalcables, such as a ribbon cable, in a manner that can prevent damage ofthe cables and, in particular, can maintain the integrity of the fiberoptic cable over a long service life of the gimbal.

In one aspect, the transmission cable 220 a can be attached to thegimbal portion 210 (e.g., a resolver cup 213) with a cable clip orbracket 222 to keep the transmission cable 220 a from interfering withthe dynamically rotating transmission cable 220 b above the cableretainer 230. In another aspect, a cable opening 234 of the cableretainer 230 can be included as described above, but can be limited insize to prevent or minimize interference of the transmission cable 220 aby the transmission cable 220 b, which may fall into the cable opening234.

The transmission cables 220 a, 220 b are also shown coiled about thegimbal axis 204, such that bi-directional relative rotation of thegimbal portion 211 and the gimbal portion 212 alternately coils anduncoils portions of the transmission cables 220 a, 220 b together aboutthe gimbal axis 204. In this case, the transmission cables 220 a, 220 bcan be coupled to one another by one or more cable clips 224, lacingtape, etc. Attaching transmission cables 220 a, 220 b together canprevent the transmission cable 220 a from getting tangled in thetransmission cable 220 b and also from binding on itself. As thetransmission cable 220 b makes a bend (here, a 90 degree bend) into ahub of the gimbal portion 211, the transmission cable 220 a can berouted independent of the transmission cable 220 b. One or both of thetransmission cables 220 a, 220 b can be fixed or pinned as desired tothe gimbal portion 211 and/or the gimbal portion 212. For example, thetransmission cables 220 a, 220 b can be fixed or pinned with suitablecable clips or brackets (hidden from view) to the gimbal portion 211where the transmission cables 220 a, 220 b exit the rotation structureabout the axis 203. This can be done to hold portions of thetransmission cables 220 a, 220 b in a static position and define alength of the transmission cable 220 a that will coil and uncoil aroundthe gimbal axis 204. In addition, the transmission cable 220 a can befixed to the gimbal portion 211 by cable clips or brackets 225, 226 tomaintain a radius of curvature of the transmission cable 220 a that isgreater than or equal to a minimum bend radius of the cable 220 a. Thiscan facilitate routing the transmission cable 220 a through a hub of thegimbal portion 211 while preserving the integrity of the transmissioncable 220 a. Additional cable clips or brackets can be used as desiredto route the transmission cables 220 a, 220 b to their respectivetermination points, such as an optical or electrical device orcomponent.

In one aspect, multiple cable retainers can be stacked to accommodatemultiple cables, as opposed to allowing an upper cable to move in anunconstrained volume or space.

Thus, the systems disclosed herein can effectively manage one or morecables (conventional and/or fiber optic) while minimizing the frictionor drag associated with motion about a gimbal axis and preventing cabledamage and the resultant loss of performance.

In accordance with one embodiment of the present invention, a method forfacilitating cable management in a gimbal is disclosed. The method cancomprise providing a cable retainer to be fixed relative to one of afirst gimbal portion and a second gimbal portion, the first and secondgimbal portions being rotatable relative to one another about a gimbalaxis. Additionally, the method can comprise facilitating formation of acable volume between the cable retainer and at least one of the firstand second gimbal portions, the cable volume being configured to receivea transmission cable therein coiled about the gimbal axis, whereinbi-directional relative rotation of the first and second gimbal portionsalternately coils and uncoils a portion of the transmission cable aboutthe gimbal axis within the cable volume. In one aspect, a distance, inthe cable volume, between the cable retainer and at least one of thefirst and second gimbal portions is configured to maintain the coil in aspiral configuration. It is noted that no specific order is required inthis method, though generally in one embodiment, these method steps canbe carried out sequentially.

It is to be understood that the embodiments of the invention disclosedare not limited to the particular structures, process steps, ormaterials disclosed herein, but are extended to equivalents thereof aswould be recognized by those ordinarily skilled in the relevant arts. Itshould also be understood that terminology employed herein is used forthe purpose of describing particular embodiments only and is notintended to be limiting.

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with the embodiment is includedin at least one embodiment of the present invention. Thus, appearancesof the phrases “in one embodiment” or “in an embodiment” in variousplaces throughout this specification are not necessarily all referringto the same embodiment.

As used herein, a plurality of items, structural elements, compositionalelements, and/or materials may be presented in a common list forconvenience. However, these lists should be construed as though eachmember of the list is individually identified as a separate and uniquemember. Thus, no individual member of such list should be construed as ade facto equivalent of any other member of the same list solely based ontheir presentation in a common group without indications to thecontrary. In addition, various embodiments and example of the presentinvention may be referred to herein along with alternatives for thevarious components thereof. It is understood that such embodiments,examples, and alternatives are not to be construed as de factoequivalents of one another, but are to be considered as separate andautonomous representations of the present invention.

Furthermore, the described features, structures, or characteristics maybe combined in any suitable manner in one or more embodiments. In thedescription, numerous specific details are provided, such as examples oflengths, widths, shapes, etc., to provide a thorough understanding ofembodiments of the invention. One skilled in the relevant art willrecognize, however, that the invention can be practiced without one ormore of the specific details, or with other methods, components,materials, etc. In other instances, well-known structures, materials, oroperations are not shown or described in detail to avoid obscuringaspects of the invention.

While the foregoing examples are illustrative of the principles of thepresent invention in one or more particular applications, it will beapparent to those of ordinary skill in the art that numerousmodifications in form, usage and details of implementation can be madewithout the exercise of inventive faculty, and without departing fromthe principles and concepts of the invention. Accordingly, it is notintended that the invention be limited, except as by the claims setforth below.

What is claimed is:
 1. A gimbal transmission cable management system,comprising: a first gimbal portion and a second gimbal portion rotatablerelative to one another to provide rotation about a gimbal axis; a cableretainer fixed relative to one of the first and second gimbal portionsand defining a cable volume between the cable retainer and at least oneof the first and second gimbal portions; a cable opening in the cableretainer proximate the one of the first and second gimbal portions towhich the cable retainer is fixed, the cable opening being at leastpartially defined by a first edge and a second edge of the cableretainer; and a transmission cable coiled about the gimbal axis withinthe cable volume, wherein bi-directional relative rotation of the firstand second gimbal portions alternately coils and uncoils a portion ofthe transmission cable about the gimbal axis within the cable volume,and wherein the first edge and the second edge of the cable retainer areconfigured to interface with the transmission cable and facilitatemovement of the transmission cable within the cable opening alternatelybetween the first and second edges as the transmission cable coils anduncoils within the cable volume.
 2. The gimbal transmission cablemanagement system of claim 1, wherein the transmission cable is fixed toat least one of the first and second gimbal portions.
 3. The gimbaltransmission cable management system of claim 1, further comprising athird gimbal portion rotatable relative to the second gimbal portion toprovide rotation about a second gimbal axis, wherein the transmissioncable is coiled about the second gimbal axis such that bi-directionalrelative rotation of the second and third gimbal portions alternatelycoils and uncoils a portion of the transmission cable about the secondgimbal axis.
 4. The gimbal transmission cable management system of claim1, wherein a distance, in the cable volume, between the cable retainerand at least one of the first and second gimbal portions is configuredto maintain the coil in a spiral configuration.
 5. The gimbaltransmission cable management system of claim 4, wherein the distance,in the cable volume, between the cable retainer and at least one of thefirst and second gimbal portions is less than or equal to 1.5 times adiameter of the transmission cable to maintain the coil in a spiralconfiguration.
 6. The gimbal transmission cable management system ofclaim 5, wherein the distance, in the cable volume, between the cableretainer and at least one of the first and second gimbal portions isless than or equal to 1.1 times a diameter of the transmission cable tomaintain the coil in a spiral configuration.
 7. The gimbal transmissioncable management system of claim 1, wherein the cable retainer definesan inner radius of the cable volume that is greater than or equal to aminimum radius of curvature for the transmission cable.
 8. The gimbaltransmission cable management system of claim 1, wherein the cableretainer is at least partially constructed of an optically transparentmaterial to facilitate installation of the transmission cable.
 9. Thegimbal transmission cable management system of claim 1, wherein thecable retainer is at least partially constructed of friction reducingmaterial to facilitate movement of the transmission cable within thecable volume.
 10. The gimbal transmission cable management system ofclaim 1, wherein the transmission cable comprises an optical cable, anelectrical cable, or a combination thereof.
 11. A transmission cablemanagement device for a gimbal, comprising: a cable retainer to be fixedrelative to one of a first gimbal portion and a second gimbal portion,the first and second gimbal portions being rotatable relative to oneanother about a gimbal axis, the cable retainer being configured todefine a cable volume between the cable retainer and at least one of thefirst and second gimbal portions, the cable volume being configured toreceive a transmission cable therein coiled about the gimbal axis; and acable opening in the cable retainer proximate the one of the first andsecond gimbal portions to which the cable retainer is to be fixed, thecable opening being at least partially defined by a first edge and asecond edge of the cable retainer, wherein bi-directional relativerotation of the first and second gimbal portions alternately coils anduncoils a portion of the transmission cable about the gimbal axis withinthe cable volume, and wherein the first edge and the second edge of thecable retainer are configured to interface with the transmission cableand facilitate movement of the transmission cable within the cableopening alternately between the first and second edges as thetransmission cable coils and uncoils within the cable volume.
 12. Thetransmission cable management device of claim 11, wherein a distance, inthe cable volume, between the cable retainer and at least one of thefirst and second gimbal portions is configured to maintain the coil in aspiral configuration.
 13. The transmission cable management device ofclaim 12, wherein the distance, in the cable volume, between the cableretainer and at least one of the first and second gimbal portions isless than or equal to 1.5 times a diameter of the transmission cable tomaintain the coil in a spiral configuration.
 14. The transmission cablemanagement device of claim 13, wherein the distance, in the cablevolume, between the cable retainer and at least one of the first andsecond gimbal portions is less than or equal to 1.1 times a diameter ofthe transmission cable to maintain the coil in a spiral configuration.15. The transmission cable management device of claim 11, wherein thecable retainer defines an inner radius of the cable volume that isgreater than or equal to a minimum radius of curvature for thetransmission cable.
 16. The transmission cable management device ofclaim 11, wherein the cable retainer comprises a cable opening proximatethe one of the first and second gimbal portions to which the cableretainer is to be fixed, wherein the cable opening is configured tofacilitate movement of the transmission cable within the opening as thetransmission cable coils and uncoils within the cable volume.
 17. Thetransmission cable management device of claim 11, wherein the cableretainer is at least partially constructed of an optically transparentmaterial to facilitate installation of the transmission cable.
 18. Thetransmission cable management device of claim 11, the cable retainer isat least partially constructed of friction reducing material tofacilitate movement of the transmission cable within the cable volume.19. A method for facilitating cable management in a gimbal, comprising:providing a cable retainer to be fixed relative to one of a first gimbalportion and a second gimbal portion, the first and second gimbalportions being rotatable relative to one another about a gimbal axis, acable opening in the cable retainer being proximate the one of the firstand second gimbal portions to which the cable retainer is to be fixed,the cable opening being at least partially defined by a first edge and asecond edge of the cable retainer; and facilitating formation of a cablevolume between the cable retainer and at least one of the first andsecond gimbal portions, the cable volume being configured to receive atransmission cable therein coiled about the gimbal axis, whereinbi-directional relative rotation of the first and second gimbal portionsalternately coils and uncoils a portion of the transmission cable aboutthe gimbal axis within the cable volume, and wherein the first edge andthe second edge of the cable retainer are configured to interface withthe transmission cable and facilitate movement of the transmission cablewithin the cable opening alternately between the first and second edgesas the transmission cable coils and uncoils within the cable volume. 20.The method of claim 19, wherein a distance, in the cable volume, betweenthe cable retainer and at least one of the first and second gimbalportions is configured to maintain the coil in a spiral configuration.